Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT > Class Template Reference

Octree pointcloud voxel class which maintains adjacency information for its voxels. More...

#include <pcl/octree/octree_pointcloud_adjacency.h>

+ Inheritance diagram for pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >:

Public Types

using OctreeBaseT = OctreeBase< LeafContainerT, BranchContainerT >
 
using OctreeAdjacencyT = OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >
 
using Ptr = boost::shared_ptr< OctreeAdjacencyT >
 
using ConstPtr = boost::shared_ptr< const OctreeAdjacencyT >
 
using OctreePointCloudT = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBaseT >
 
using LeafNode = typename OctreePointCloudT::LeafNode
 
using BranchNode = typename OctreePointCloudT::BranchNode
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = boost::shared_ptr< PointCloud >
 
using PointCloudConstPtr = boost::shared_ptr< const PointCloud >
 
using VoxelAdjacencyList = boost::adjacency_list< boost::setS, boost::setS, boost::undirectedS, PointT, float >
 
using VoxelID = typename VoxelAdjacencyList::vertex_descriptor
 
using EdgeID = typename VoxelAdjacencyList::edge_descriptor
 
using LeafVectorT = std::vector< LeafContainerT * >
 
using iterator = typename LeafVectorT::iterator
 
using const_iterator = typename LeafVectorT::const_iterator
 
- Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
using Base = OctreeBase< LeafContainerT, BranchContainerT >
 
using LeafNode = typename OctreeBase< LeafContainerT, BranchContainerT > ::LeafNode
 
using BranchNode = typename OctreeBase< LeafContainerT, BranchContainerT > ::BranchNode
 
using IndicesPtr = boost::shared_ptr< std::vector< int > >
 
using IndicesConstPtr = boost::shared_ptr< const std::vector< int > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = boost::shared_ptr< PointCloud >
 
using PointCloudConstPtr = boost::shared_ptr< const PointCloud >
 
using SingleBuffer = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >
 
using Ptr = boost::shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > >
 
using ConstPtr = boost::shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > >
 
using AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >
 
using AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >
 
- Public Types inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
using OctreeT = OctreeBase< LeafContainerT, BranchContainerT >
 
using BranchNode = OctreeBranchNode< BranchContainerT >
 
using LeafNode = OctreeLeafNode< LeafContainerT >
 
using BranchContainer = BranchContainerT
 
using LeafContainer = LeafContainerT
 
using Iterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstIterator = const OctreeDepthFirstIterator< OctreeT >
 
using LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstDepthFirstIterator = const OctreeDepthFirstIterator< OctreeT >
 
using BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >
 
using ConstBreadthFirstIterator = const OctreeBreadthFirstIterator< OctreeT >
 
using FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >
 
using ConstFixedDepthIterator = const OctreeFixedDepthIterator< OctreeT >
 
using LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >
 
using ConstLeafNodeBreadthFirstIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >
 

Public Member Functions

iterator begin ()
 
iterator end ()
 
LeafContainerT * at (size_t idx)
 
size_t size () const
 
 OctreePointCloudAdjacency (const double resolution_arg)
 Constructor. More...
 
 ~OctreePointCloudAdjacency ()
 Empty class destructor. More...
 
void addPointsFromInputCloud ()
 Adds points from cloud to the octree. More...
 
LeafContainerT * getLeafContainerAtPoint (const PointT &point_arg) const
 Gets the leaf container for a given point. More...
 
void computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph)
 Computes an adjacency graph of voxel relations. More...
 
void setTransformFunction (std::function< void(PointT &p)> transform_func)
 Sets a point transform (and inverse) used to transform the space of the input cloud. More...
 
bool testForOcclusion (const PointT &point_arg, const PointXYZ &camera_pos=PointXYZ(0, 0, 0))
 Tests whether input point is occluded from specified camera point by other voxels. More...
 
- Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
 OctreePointCloud (const double resolution_arg)
 Octree pointcloud constructor. More...
 
 ~OctreePointCloud ()
 Empty deconstructor. More...
 
void setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
 Provide a pointer to the input data set. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
PointCloudConstPtr getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
void setEpsilon (double eps)
 Set the search epsilon precision (error bound) for nearest neighbors searches. More...
 
double getEpsilon () const
 Get the search epsilon precision (error bound) for nearest neighbors searches. More...
 
void setResolution (double resolution_arg)
 Set/change the octree voxel resolution. More...
 
double getResolution () const
 Get octree voxel resolution. More...
 
unsigned int getTreeDepth () const
 Get the maximum depth of the octree. More...
 
void addPointsFromInputCloud ()
 Add points from input point cloud to octree. More...
 
void addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg)
 Add point at given index from input point cloud to octree. More...
 
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
 Add point simultaneously to octree and input point cloud. More...
 
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
 Add point simultaneously to octree and input point cloud. More...
 
bool isVoxelOccupiedAtPoint (const PointT &point_arg) const
 Check if voxel at given point exist. More...
 
bool isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const
 Check if voxel at given point coordinates exist. More...
 
bool isVoxelOccupiedAtPoint (const int &point_idx_arg) const
 Check if voxel at given point from input cloud exist. More...
 
void deleteTree ()
 Delete the octree structure and its leaf nodes. More...
 
int getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
 Get a PointT vector of centers of all occupied voxels. More...
 
int getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
 Get a PointT vector of centers of voxels intersected by a line segment. More...
 
void deleteVoxelAtPoint (const PointT &point_arg)
 Delete leaf node / voxel at given point. More...
 
void deleteVoxelAtPoint (const int &point_idx_arg)
 Delete leaf node / voxel at given point from input cloud. More...
 
void defineBoundingBox ()
 Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...
 
void defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)
 Define bounding box for octree. More...
 
void defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
 Define bounding box for octree. More...
 
void defineBoundingBox (const double cubeLen_arg)
 Define bounding box cube for octree. More...
 
void getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
 Get bounding box for octree. More...
 
double getVoxelSquaredDiameter (unsigned int tree_depth_arg) const
 Calculates the squared diameter of a voxel at given tree depth. More...
 
double getVoxelSquaredDiameter () const
 Calculates the squared diameter of a voxel at leaf depth. More...
 
double getVoxelSquaredSideLen (unsigned int tree_depth_arg) const
 Calculates the squared voxel cube side length at given tree depth. More...
 
double getVoxelSquaredSideLen () const
 Calculates the squared voxel cube side length at leaf level. More...
 
void getVoxelBounds (const OctreeIteratorBase< OctreeBase< LeafContainerT, BranchContainerT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
 Generate bounds of the current voxel of an octree iterator. More...
 
void enableDynamicDepth (size_t maxObjsPerLeaf)
 Enable dynamic octree structure. More...
 
- Public Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
Iterator begin (unsigned int max_depth_arg=0u)
 
const Iterator end ()
 
LeafNodeIterator leaf_begin (unsigned int max_depth_arg=0u)
 
const LeafNodeIterator leaf_end ()
 
LeafNodeDepthFirstIterator leaf_depth_begin (unsigned int max_depth_arg=0u)
 
const LeafNodeDepthFirstIterator leaf_depth_end ()
 
DepthFirstIterator depth_begin (unsigned int max_depth_arg=0u)
 
const DepthFirstIterator depth_end ()
 
BreadthFirstIterator breadth_begin (unsigned int max_depth_arg=0u)
 
const BreadthFirstIterator breadth_end ()
 
FixedDepthIterator fixed_depth_begin (unsigned int fixed_depth_arg=0u)
 
const FixedDepthIterator fixed_depth_end ()
 
LeafNodeBreadthFirstIterator leaf_breadth_begin (unsigned int max_depth_arg=0u)
 
const LeafNodeBreadthFirstIterator leaf_breadth_end ()
 
 OctreeBase ()
 Empty constructor. More...
 
virtual ~OctreeBase ()
 Empty deconstructor. More...
 
 OctreeBase (const OctreeBase &source)
 Copy constructor. More...
 
OctreeBaseoperator= (const OctreeBase &source)
 Copy operator. More...
 
void setMaxVoxelIndex (unsigned int max_voxel_index_arg)
 Set the maximum amount of voxels per dimension. More...
 
void setTreeDepth (unsigned int max_depth_arg)
 Set the maximum depth of the octree. More...
 
unsigned int getTreeDepth () const
 Get the maximum depth of the octree. More...
 
LeafContainerT * createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
 Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
LeafContainerT * findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
 Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
bool existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const
 idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
void removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
 Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
std::size_t getLeafCount () const
 Return the amount of existing leafs in the octree. More...
 
std::size_t getBranchCount () const
 Return the amount of existing branch nodes in the octree. More...
 
void deleteTree ()
 Delete the octree structure and its leaf nodes. More...
 
void serializeTree (std::vector< char > &binary_tree_out_arg)
 Serialize octree into a binary output vector describing its branch node structure. More...
 
void serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg)
 Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...
 
void serializeLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg)
 Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...
 
void deserializeTree (std::vector< char > &binary_tree_input_arg)
 Deserialize a binary octree description vector and create a corresponding octree structure. More...
 
void deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg)
 Deserialize a binary octree description and create a corresponding octree structure. More...
 

Protected Member Functions

void addPointIdx (const int point_idx_arg) override
 Add point at index from input pointcloud dataset to octree. More...
 
void computeNeighbors (OctreeKey &key_arg, LeafContainerT *leaf_container)
 Fills in the neighbors fields for new voxels. More...
 
void genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
 Generates octree key for specified point (uses transform if provided). More...
 
- Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
void expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask)
 Add point at index from input pointcloud dataset to octree. More...
 
const PointTgetPointByIndex (const unsigned int index_arg) const
 Get point at index from input pointcloud dataset. More...
 
LeafContainerT * findLeafAtPoint (const PointT &point_arg) const
 Find octree leaf node at a given point. More...
 
void getKeyBitSize ()
 Define octree key setting and octree depth based on defined bounding box. More...
 
void adoptBoundingBoxToPoint (const PointT &point_idx_arg)
 Grow the bounding box/octree until point fits. More...
 
bool isPointWithinBoundingBox (const PointT &point_idx_arg) const
 Checks if given point is within the bounding box of the octree. More...
 
void genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
 Generate octree key for voxel at a given point. More...
 
void genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const
 Generate octree key for voxel at a given point. More...
 
virtual bool genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const
 Virtual method for generating octree key for a given point index. More...
 
void genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
 Generate a point at center of leaf node voxel. More...
 
void genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const
 Generate a point at center of octree voxel at given tree level. More...
 
void genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
 Generate bounds of an octree voxel using octree key and tree depth arguments. More...
 
int getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
 Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...
 
- Protected Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
LeafContainerT * createLeaf (const OctreeKey &key_arg)
 Create a leaf node. More...
 
LeafContainerT * findLeaf (const OctreeKey &key_arg) const
 Find leaf node. More...
 
bool existLeaf (const OctreeKey &key_arg) const
 Check for existence of a leaf node in the octree. More...
 
void removeLeaf (const OctreeKey &key_arg)
 Remove leaf node from octree. More...
 
OctreeNodegetRootNode () const
 Retrieve root node. More...
 
bool branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
 Check if branch is pointing to a particular child node. More...
 
OctreeNodegetBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
 Retrieve a child node pointer for child node at child_idx. More...
 
void setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
 Assign new child node to branch. More...
 
char getBranchBitPattern (const BranchNode &branch_arg) const
 Generate bit pattern reflecting the existence of child node pointers. More...
 
void deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Delete child node and all its subchilds from octree. More...
 
void deleteBranch (BranchNode &branch_arg)
 Delete branch and all its subchilds from octree. More...
 
BranchNodecreateBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Create and add a new branch child to a branch class. More...
 
LeafNodecreateLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Create and add a new leaf child to a branch class. More...
 
unsigned int createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg)
 Create a leaf node at octree key. More...
 
void findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const
 Recursively search for a given leaf node and return a pointer. More...
 
bool deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)
 Recursively search and delete leaf node. More...
 
void serializeTreeRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT *> *leaf_container_vector_arg) const
 Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More...
 
void deserializeTreeRecursive (BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT *>::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT *>::const_iterator *leaf_container_vector_it_end_arg)
 Recursive method for deserializing octree structure. More...
 
virtual void serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
 Callback executed for every leaf node during serialization. More...
 
virtual void deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
 Callback executed for every leaf node during deserialization. More...
 
double Log2 (double n_arg)
 Helper function to calculate the binary logarithm. More...
 
bool octreeCanResize ()
 Test if octree is able to dynamically change its depth. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
PointCloudConstPtr input_
 Pointer to input point cloud dataset. More...
 
IndicesConstPtr indices_
 A pointer to the vector of point indices to use. More...
 
double epsilon_
 Epsilon precision (error bound) for nearest neighbors searches. More...
 
double resolution_
 Octree resolution. More...
 
double min_x_
 
double max_x_
 
double min_y_
 
double max_y_
 
double min_z_
 
double max_z_
 
bool bounding_box_defined_
 Flag indicating if octree has defined bounding box. More...
 
std::size_t max_objs_per_leaf_
 Amount of DataT objects per leafNode before expanding branch. More...
 
- Protected Attributes inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
std::size_t leaf_count_
 Amount of leaf nodes. More...
 
std::size_t branch_count_
 Amount of branch nodes. More...
 
BranchNoderoot_node_
 Pointer to root branch node of octree. More...
 
unsigned int depth_mask_
 Depth mask based on octree depth. More...
 
unsigned int octree_depth_
 Octree depth. More...
 
bool dynamic_depth_enabled_
 Enable dynamic_depth. More...
 
OctreeKey max_key_
 key range More...
 

Detailed Description

template<typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >

Octree pointcloud voxel class which maintains adjacency information for its voxels.

This pointcloud octree class generates an octree from a point cloud (zero-copy). The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.

The OctreePointCloudAdjacencyContainer class can be used to store data in leaf nodes.

An optional transform function can be provided which changes how the voxel grid is computed - this can be used to, for example, make voxel bins larger as they increase in distance from the origin (camera).

Note
See SupervoxelClustering for an example of how to provide a transform function.

If used in academic work, please cite:

Author
Jeremie Papon (jpapo.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Definition at line 78 of file octree_pointcloud_adjacency.h.

Member Typedef Documentation

◆ BranchNode

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::BranchNode = typename OctreePointCloudT::BranchNode

Definition at line 91 of file octree_pointcloud_adjacency.h.

◆ const_iterator

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::const_iterator = typename LeafVectorT::const_iterator

Definition at line 107 of file octree_pointcloud_adjacency.h.

◆ ConstPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::ConstPtr = boost::shared_ptr<const OctreeAdjacencyT>

Definition at line 87 of file octree_pointcloud_adjacency.h.

◆ EdgeID

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::EdgeID = typename VoxelAdjacencyList::edge_descriptor

Definition at line 100 of file octree_pointcloud_adjacency.h.

◆ iterator

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::iterator = typename LeafVectorT::iterator

Definition at line 106 of file octree_pointcloud_adjacency.h.

◆ LeafNode

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafNode = typename OctreePointCloudT::LeafNode

Definition at line 90 of file octree_pointcloud_adjacency.h.

◆ LeafVectorT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafVectorT = std::vector<LeafContainerT *>

Definition at line 103 of file octree_pointcloud_adjacency.h.

◆ OctreeAdjacencyT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeAdjacencyT = OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>

Definition at line 85 of file octree_pointcloud_adjacency.h.

◆ OctreeBaseT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeBaseT = OctreeBase<LeafContainerT, BranchContainerT>

Definition at line 83 of file octree_pointcloud_adjacency.h.

◆ OctreePointCloudT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudT = OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBaseT>

Definition at line 89 of file octree_pointcloud_adjacency.h.

◆ PointCloud

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 93 of file octree_pointcloud_adjacency.h.

◆ PointCloudConstPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr = boost::shared_ptr<const PointCloud>

Definition at line 95 of file octree_pointcloud_adjacency.h.

◆ PointCloudPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr = boost::shared_ptr<PointCloud>

Definition at line 94 of file octree_pointcloud_adjacency.h.

◆ Ptr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::Ptr = boost::shared_ptr<OctreeAdjacencyT>

Definition at line 86 of file octree_pointcloud_adjacency.h.

◆ VoxelAdjacencyList

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float>

Definition at line 98 of file octree_pointcloud_adjacency.h.

◆ VoxelID

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelID = typename VoxelAdjacencyList::vertex_descriptor

Definition at line 99 of file octree_pointcloud_adjacency.h.

Constructor & Destructor Documentation

◆ OctreePointCloudAdjacency()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudAdjacency ( const double  resolution_arg)

Constructor.

Parameters
[in]resolution_argOctree resolution at lowest octree level (voxel size)

Definition at line 54 of file octree_pointcloud_adjacency.hpp.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::size().

◆ ~OctreePointCloudAdjacency()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency ( )
inline

Member Function Documentation

◆ addPointIdx()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointIdx ( const int  point_idx_arg)
overrideprotectedvirtual

Add point at index from input pointcloud dataset to octree.

Parameters
[in]point_idx_argThe index representing the point in the dataset given by setInputCloud() to be added
Note
This virtual implementation allows the use of a transform function to compute keys.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 141 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::input_, and pcl::isFinite().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction().

◆ addPointsFromInputCloud()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud ( )

◆ at()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
LeafContainerT* pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::at ( size_t  idx)
inline

Definition at line 111 of file octree_pointcloud_adjacency.h.

◆ begin()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::begin ( )
inline

Definition at line 109 of file octree_pointcloud_adjacency.h.

◆ computeNeighbors()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeNeighbors ( OctreeKey key_arg,
LeafContainerT *  leaf_container 
)
protected

◆ computeVoxelAdjacencyGraph()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeVoxelAdjacencyGraph ( VoxelAdjacencyList voxel_adjacency_graph)

Computes an adjacency graph of voxel relations.

Warning
This slows down rapidly as cloud size increases due to the number of edges.
Parameters
[out]voxel_adjacency_graphBoost Graph Library Adjacency graph of the voxel touching relationships. Vertices are PointT, edges represent touching, and edge lengths are the distance between the points.

Definition at line 215 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::genLeafNodeCenterFromOctreeKey(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency().

◆ end()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::end ( )
inline

Definition at line 110 of file octree_pointcloud_adjacency.h.

◆ genOctreeKeyforPoint()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint ( const PointT point_arg,
OctreeKey key_arg 
) const
protected

◆ getLeafContainerAtPoint()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
LeafContainerT * pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::getLeafContainerAtPoint ( const PointT point_arg) const

Gets the leaf container for a given point.

Parameters
[in]point_argPoint to search for
Returns
Pointer to the leaf container - null if no leaf container found.

Definition at line 200 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency().

◆ setTransformFunction()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction ( std::function< void(PointT &p)>  transform_func)
inline

Sets a point transform (and inverse) used to transform the space of the input cloud.

This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera.

Parameters
[in]transform_funcA boost:function pointer to the transform to be used. The transform must have one parameter (a point) which it modifies in place.

Definition at line 157 of file octree_pointcloud_adjacency.h.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointFromCloud(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointIdx(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointToCloud(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeNeighbors(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_z_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_, and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::testForOcclusion().

◆ size()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
size_t pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::size ( ) const
inline

◆ testForOcclusion()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::testForOcclusion ( const PointT point_arg,
const PointXYZ camera_pos = PointXYZ (0, 0, 0) 
)

Tests whether input point is occluded from specified camera point by other voxels.

Parameters
[in]point_argPoint to test for
[in]camera_posPosition of camera, defaults to origin
Returns
True if path to camera is blocked by a voxel, false otherwise.

Definition at line 259 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction().


The documentation for this class was generated from the following files: